#
# Qwerk State message containing the motors state
#

# Constants:

# Max motor current (mA), depends on robot power supply voltage
# (800 mA at 12V, more for iCreate alim)
int32 MAX_MOTOR_CURRENT = 1500

# Limit current to detect stall 
int32 MOTOR_STALL_CURRENT_LIMIT = 900

# How many ticks per meters (ticks are used by Qwerk motor position
# control, conversion depends on wheel diameters, etc.)
int32 TICKS_PER_METER = 170000

# Max speed of motor move request (0.1*TICKS_PER_METER)
int32 MAX_MOTOR_SPEED_REQUEST=17000

# Header
Header header

# Motor States:
# Absolute position (in TICKS)
int32[4] motorPositions
# Speed (in TICKS/s)
int32[4] motorVelocities
# Instantaneous current drawn in mA
int32[4] motorCurrents
# Last order completed?
bool[4] motorDone
